Nonrestrictive drive-type marking system and marking method thereof

ABSTRACT

In order to allow a worker to accurately and repeatedly mark an original plan on a working surface, provided is a nonrestrictive drive-type marking system including a nonrestrictive drive-type marking device, the nonrestrictive drive-type marking system including an input unit configured to receive data of content to be marked; a marking unit configured to mark the content corresponding to the data on a working surface; a driving unit configured to allow at least a part of the nonrestrictive drive-type marking device comprising the marking unit to nonrestrictively move on the working surface; a position detecting unit configured to sense position information of the nonrestrictive drive-type marking device; and a control unit electrically connected to the input unit, the marking unit, the driving unit, and the position detecting unit.

CROSS-REFERENCE TO RELATED APPLICATIONS

The instant application is a continuation application of U.S.application Ser. No. 16/285,861 filed on Feb. 26, 2019, which is acontinuation application of U.S. application Ser. No. 15/672,419 filedon Aug. 9, 2017, which is a continuation application of internationalapplication No. PCT/KR2016/001376 filed on Feb. 11, 2016, which claimspriority to Korean patent application No. 10-2015-0021828 filed on Feb.12, 2015, and the entire disclosures of the aforementioned applicationsare hereby incorporated by reference.

TECHNICAL FIELD

The present disclosure relates to a nonrestrictive drive-type markingsystem and a marking method thereof, and more particularly, to anonrestrictive drive-type marking system arranged to mark anonrestrictive area while moving, and a marking method thereof.

BACKGROUND ART

During construction such as in building and/or engineering works, abuilder directly measures a site by analyzing scaled drawings and thenthe construction proceeds accordingly.

Such a construction scheme requires the builder to correctly analyzedrawings. However, in an actual construction site, unprofessionalworkers may manually measure and set a construction position such that aconstructional error may occur.

Limits and/or problems between drawings and actual analysis occur notonly in building and/or engineering works but also occur in a generalcase of marking particular content on a working surface. That is, inorder to mark the particular content such as an advertisement on theworking surface, a worker has to see a drawing of an original plan andmanually mark it on the working surface, meaning that all works dependon the proficiency of the worker. In this case, accuracy deterioratesand if the same content is repeatedly marked, a problem gets worse. Sucha problem may occur not only in the construction field but also in otherfields such as heavy industry, city planning, and the like which requiremarking according to position measurement.

DETAILED DESCRIPTION OF THE INVENTION Technical Problem

In order to solve limits and/or problems of the related art, the presentdisclosure provides a nonrestrictive drive-type marking system and amarking method thereof so that a worker can accurately and repeatedlymark original data on a working surface.

Technical Solution

According to an aspect of the present disclosure, there is provided anonrestrictive drive-type marking system including a nonrestrictivedrive-type marking device, the nonrestrictive drive-type marking systemincluding an input unit configured to receive data of content to bemarked; a marking unit configured to mark the content corresponding tothe data on a working surface; a driving unit configured to allow atleast a part of the nonrestrictive drive-type marking device includingthe marking unit to nonrestrictively move on the working surface; aposition detecting unit configured to sense position information of thenonrestrictive drive-type marking device; and a control unitelectrically connected to the input unit, the marking unit, the drivingunit, and the position detecting unit, and configured to calculate acurrent position of the at least the part of the nonrestrictivedrive-type marking device including the marking unit by comparing theposition information with the data, to compare the current position withthe data, and if the current position does not match with the data and adegree of mismatch thereof is within a preset range, to move at least apart of the marking unit, and to control the nonrestrictive drive-typemarking device to mark the content corresponding to the data on theworking surface while the nonrestrictive drive-type marking devicemoves.

The driving unit may include a first driving unit configured to move theat least the part of the nonrestrictive drive-type marking device; and asecond driving unit configured to move the at least the part of themarking unit.

The control unit may be further configured to move the at least the partof the nonrestrictive drive-type marking device by driving the firstdriving unit, and if the current position does not match with the dataand the degree of mismatch thereof is within the preset range, to movethe at least the part of the marking unit by driving the second drivingunit.

The marking unit may include a first marking unit configured to mark thecontent corresponding to the data on at least a portion of the workingsurface.

The marking unit may include an ink supplying unit configured to supplyink; and a nozzle unit connected to the ink supplying unit andconfigured to spray the ink onto a marking target point.

The nozzle unit may include a first nozzle unit configured to performmarking in a first direction; and a second nozzle unit configured toperform marking in a second direction different from the firstdirection, wherein each of the first nozzle unit and the second nozzleunit includes one or more nozzles.

The marking unit may include a second marking unit configured to projectthe content corresponding to the data onto a portion of the workingsurface.

The marking unit may include a light irradiating unit configured togenerate light; and an optical system connected to the light irradiatingunit and configured to transmit the light to be irradiated to a markingtarget point.

The optical system may include a first optical element used for markingin a first direction; and a second optical element used for marking in asecond direction different from the first direction, wherein each of thefirst optical element and the second optical element includes one ormore optical elements.

The marking unit may include a photosensitive agent supplying unitconfigured to supply a photosensitive agent; a spraying unit connectedto the photosensitive agent supplying unit and configured to dischargethe photosensitive agent to a marking target point; a light irradiatingunit configured to generate light; and an optical system connected tothe light irradiating unit, corresponding to the spraying unit, andconfigured to transmit the light to be irradiated to the marking targetpoint.

The spraying unit may include a first spraying unit configured toperform marking in a first direction; and a second spraying unitconfigured to perform marking in a second direction different from thefirst direction, and wherein the optical system may include a firstoptical element used for marking in the first direction; and a secondoptical element used for marking in the second direction, wherein eachof the first spraying unit and the second spraying unit may include oneor more spraying units, and each of the first optical element and thesecond optical element may include one or more optical elements.

The nonrestrictive drive-type marking device may include at least themarking unit, the driving unit, and the position detecting unit, and aremote control device includes the input unit, wherein the control unitmay include a first control unit electrically connected to the markingunit, the driving unit, and the position detecting unit and positionedin the nonrestrictive drive-type marking device, and a second controlunit electrically connected to the input unit and positioned in theremote control device, and the nonrestrictive drive-type marking deviceand the remote control device are enabled to communicate with eachother.

The nonrestrictive drive-type marking device may include the markingunit, the driving unit, the position detecting unit, the input unit, andthe control unit.

According to another aspect of the present disclosure, there is provideda nonrestrictive drive-type marking method including inputting data ofcontent to be marked into a nonrestrictive drive-type marking deviceincluding at least a sensing unit, a position detecting unit, a drivingunit, and a marking unit; sensing, by the position detecting unit,position information of the nonrestrictive drive-type marking device;recognizing, by a control unit, a current position of at least a part ofthe nonrestrictive drive-type marking device by comparing the positioninformation with the data, wherein the control unit is electricallyconnected to the position detecting unit; by the control unit, comparingthe current position with the data, and if the current position matcheswith a marking start point of the data, controlling operations of thedriving unit and the marking unit to move the nonrestrictive drive-typemarking device and to mark the content corresponding to the data on aworking surface from the marking start point; and if the currentposition does not match with the marking start point of the data and adegree of mismatch thereof is within a preset range, moving, by thecontrol unit, at least a part of the marking unit.

The sensing, by the position detecting unit, of the position informationmay include generating, by the position detecting unit, a first positionsignal with respect to the at least the part of the marking unit, therecognizing, by the control unit, of the current position of the atleast the part of the nonrestrictive drive-type marking device mayinclude recognizing, by the control unit, a first current position basedon the first position signal, the comparing, by the control unit, of thecurrent position with the data may include comparing, by the controlunit, the first current position with a first marking start point, ifthe first current position matches with the first marking start point,the controlling of the operations may include controlling the marking tobe performed, and if the first current position does not match with thefirst marking start point, the controlling of the operations may includemoving, by the control unit, the at least the part of the marking unitto the first marking start point, and the first marking start point maybe a marking target point to be marked by the marking unit.

If the first current position does not match with the first markingstart point, the nonrestrictive drive-type marking method may furtherinclude calculating, by the control unit, a degree of mismatch betweenthe first current position and the first marking start point; andcomparing, by the control unit, the degree of mismatch with the presetrange, and wherein the nonrestrictive drive-type marking method mayfurther include, if the degree of mismatch is within the preset range,moving, by the control unit, the at least the part of the marking unitto the first marking start point, and if the degree of mismatch exceedsthe preset range, moving, by the control unit, the nonrestrictivedrive-type marking device to the first marking start point.

The sensing, by the position detecting unit, of the position informationmay include generating a second position signal with respect to at leasta part of the nonrestrictive drive-type marking device which is not themarking unit, the recognizing, by the control unit, of the currentposition of the at least the part of the nonrestrictive drive-typemarking device may include, by the control unit, calculating a secondcurrent position based on the second position signal and calculating afirst current position based on the second current position, wherein thefirst current position may be the current position of the at least thepart of the marking unit, the comparing, by the control unit, of thecurrent position with the data may include comparing, by the controlunit, the second current position with a second marking start point, thecontrolling of the operations may include controlling, by the controlunit, operations of the driving unit and the marking unit to mark thecontent corresponding to the data on the working surface if the secondcurrent position matches with the second marking start point, andmoving, by the control unit, the at least the part of the marking unitto a first marking start point if the second current position does notmatch with the second marking start point, and the first marking startpoint may be a marking target point to be marked by the marking unit,and the second marking start point may be a marking start point that isnot the marking target point.

If the second current position does not match with the second markingstart point, the nonrestrictive drive-type marking method may furtherinclude calculating, by the control unit, a degree of mismatch betweenthe second current position and the second marking start point; andcomparing, by the control unit, the degree of mismatch with the presetrange, wherein, if the degree of mismatch is within the preset range,the control unit may move the at least the part of the marking unit tothe first marking start point, and if the degree of mismatch exceeds thepreset range, the control unit may move the nonrestrictive drive-typemarking device to the second marking start point.

The nonrestrictive drive-type marking method may further include ending,by the control unit, the marking at a marking end point.

The ending of the marking may include ending, by the control unit, themarking if the current position matches with the marking end point, andthe nonrestrictive drive-type marking method may further include, if thecurrent position does not match with the marking end point, determining,by the control unit, whether a degree of mismatch between the currentposition and the marking end point is within a preset range; if thedegree of mismatch is within the preset range, moving, by the controlunit, the marking unit to the marking end point; and if the degree ofmismatch exceeds the preset range, not moving, by the control unit, themarking unit to the marking end point.

The not moving, by the control unit, of the marking unit to the markingend point may include ending, by the control unit, the marking if thedegree of mismatch is acceptable; and ending, by the control unit, themarking in an error state if the degree of mismatch is unacceptable.

The nonrestrictive drive-type marking method may further includeperforming, by the control unit, a simulation on the content to bemarked by the nonrestrictive drive-type marking device while moving onthe working surface.

Advantageous Effects

According to embodiments of the present disclosure, a worker mayaccurately mark original data on a working surface.

According to embodiments of the present disclosure, original data may beaccurately marked regardless of a position of a working surface.

According to embodiments of the present disclosure, original data may beaccurately marked on a working surface while avoiding obstructions.

According to embodiments of the present disclosure, marking of samecontent may be repeated.

In addition, according to embodiments of the present disclosure,original data may be projected onto a working surface so that accuracyof work may be further increased.

DESCRIPTION OF THE DRAWINGS

FIG. 1 is a configuration diagram of a nonrestrictive drive-type markingsystem, according to an embodiment of the present disclosure,

FIG. 2 is a configuration diagram of an example of a position detectingunit of FIG. 1,

FIGS. 3A and 3B are configuration diagrams of an example of a markingunit of FIG. 1,

FIG. 4 is a configuration diagram of another example of the marking unitof FIG. 1,

FIG. 5 is a diagram for describing an operation of a marking unit ofFIG. 4,

FIG. 6 is a configuration diagram of another example of the marking unitof FIG. 1,

FIG. 7 is a configuration diagram of a nonrestrictive drive-type markingsystem, according to another embodiment of the present disclosure,

FIG. 8 is a configuration diagram of an example in which thenonrestrictive drive-type marking system of FIG. 1 is arranged,

FIG. 9 is a block diagram illustrating an embodiment of a marking methodperformed by the nonrestrictive drive-type marking system of FIG. 1,

FIG. 10 is a diagram illustrating an embodiment of a nonrestrictivedrive-type marking device,

FIG. 11 is a block diagram illustrating a particular example ofrecognizing a position in FIG. 9,

FIG. 12 is a block diagram illustrating another embodiment of themarking method performed by the nonrestrictive drive-type marking deviceof FIG. 1,

FIG. 13 is a block diagram illustrating another particular example ofthe recognizing of a position in FIG. 9,

FIG. 14 is a block diagram illustrating another embodiment of themarking method performed by the nonrestrictive drive-type marking deviceof FIG. 1,

FIG. 15 is a configuration diagram of a nonrestrictive drive-typemarking system, according to another embodiment of the presentdisclosure.

MODE OF THE INVENTION

As the disclosure allows for various changes and numerous embodiments,particular embodiments will be illustrated in the drawings and describedin detail in the written description. However, this is not intended tolimit the present disclosure to particular modes of practice, and it isto be appreciated that all changes, equivalents, and substitutes that donot depart from the spirit and technical scope of the present disclosureare encompassed in the present disclosure. In the description of thepresent disclosure, certain detailed explanations of the related art areomitted when it is deemed that they may unnecessarily obscure theessence of the disclosure.

The embodiments of the present disclosure will be described below inmore detail with reference to the accompanying drawings. Thosecomponents that are the same or are in correspondence are rendered thesame reference numeral regardless of the figure number, and redundantexplanations are omitted.

FIG. 1 is a configuration diagram of a nonrestrictive drive-type markingsystem, according to an embodiment of the present disclosure.

Referring to FIG. 1, the nonrestrictive drive-type marking systemaccording to the embodiment of the present disclosure includes anonrestrictive drive-type marking device 10 and a remote control device20.

The nonrestrictive drive-type marking device 10 includes a firstcommunication unit 11 for communicating with a second communication unit22 of the remote control device 20, a position detecting unit 12 forsensing position information of the nonrestrictive drive-type markingdevice 10, a driving unit 13 for driving the nonrestrictive drive-typemarking device 10, a marking unit 14 for marking content, whichcorresponds to data, on a working surface, and a first control unit 15for controlling operations of the first communication unit 11, theposition detecting unit 12, the driving unit 13, and the marking unit14.

The working surface may indicate a surface in a predetermined space andon which marking is to be performed, and may include a first workingsurface on which the nonrestrictive drive-type marking device 10 ismovable, a second working surface making a predetermined angle withrespect to the first working surface, and a third working surface makinga predetermined angle with respect to the second working surface. Thefirst working surface may include a floor surface. The second workingsurface may include a wall surface and a corner of the second workingsurface may be formed so as to be in contact with the first workingsurface but is not limited thereto. The third working surface mayinclude a ceiling and a corner of the third working surface may not beformed so as to be in contact with the first working surface but may beformed so as to be in contact with the second working surface but is notlimited thereto. A top of the working surface may be even or uneven butis not limited thereto.

The remote control device 20 includes an input unit 21 for inputtingdata, the second communication unit 22 for communicating with the firstcommunication unit 11 of the nonrestrictive drive-type marking device10, a storage 23 for storing the data, and a second control unit 24 forcontrolling operations of the input unit 21, the second communicationunit 22, and the storage 23.

The input unit 21 is a unit for inputting data of content to be markedby a user. The input unit 21 may be, but is not limited to, an externalmemory or any other input device arranged for the user to directly inputdata. The input unit 21 may be connected to a separate transmitting andreceiving unit (not shown), and the separate transmitting and receivingunit (not shown) may include a wired and/or wireless transmitting andreceiving unit, may receive data of content to be marked from anexternal device, and may store the data in the storage 23.

The storage 23 stores the data and then transmits the data to the secondcontrol unit 24, thereby allowing the second control unit 24 to generatea marking signal. Alternatively, although not illustrated in drawings,the nonrestrictive drive-type marking device 10 may be connected to anexternal storage device such as a universal serial bus (USB), and maygenerate a marking signal based on data of content to be marked which isprovided from the external storage device.

The second communication unit 22 is configured to communicate with thefirst communication unit 11. The marking signal generated by the secondcontrol unit 24 may be transmitted to the first communication unit 11via the second communication unit 22. The first control unit 15 allowsmarking to be performed by delivering, to the marking unit 14, themarking signal received by the first communication unit 11. Although notillustrated in drawings, the nonrestrictive drive-type marking device 10may include a separate storage (not shown) and thus may store data suchas the marking signal received from the remote control device 20.

As will be described below, the second control unit 24 may receive, viathe first communication unit 11 and the second communication unit 22,measurement data including data about a current position which ismeasured by the nonrestrictive drive-type marking device 10. The secondcontrol unit 24 may determine whether to perform marking and/or to moveby comparing the measurement data with original data, may generate amarking signal and/or a movement signal accordingly, and then maytransmit the marking signal and/or the movement signal to thenonrestrictive drive-type marking device 10 via the second communicationunit 22 and the first communication unit 11. The original data may beone-dimensional data information, two-dimensional data information,and/or three-dimensional data information, which was previouslygenerated.

The second control unit 24 may display, on the original data,information about a difference and/or an error between the measurementdata and the original data. The second control unit 24 may store theoriginal data having the difference and/or the error displayed thereonin the storage 23.

The remote control device 20 according to the embodiment of the presentdisclosure may transmit a command involving marking and/or moving to thenonrestrictive drive-type marking device 10, may apply feedback to theoriginal data based on the measurement data received from thenonrestrictive drive-type marking device 10, and may transmit a commandto make the nonrestrictive drive-type marking device 10 perform asimulation step.

FIG. 2 is a configuration diagram of an example of a position detectingunit of FIG. 1.

Referring to FIG. 2, the position detecting unit 12 according to theembodiment of the present disclosure includes a sensing unit 121 and aposition signal generating unit 122.

The position detecting unit 12 recognizes a current position of thenonrestrictive drive-type marking device 10, senses information about aworking surface, and transmits position data to the first control unit15. The current position of the nonrestrictive drive-type marking device10 may be, but is not limited to, a current position of at least a partof the marking unit 14, or a current position of at least a part of thenonrestrictive drive-type marking device 10 which is not the markingunit 14.

Hereinafter, the current position of at least a part of the marking unit14, and the current position of at least a part of the nonrestrictivedrive-type marking device 10 which is not the marking unit 14 arerespectively defined as a first current position and a second currentposition. According to an embodiment, the first current positionindicates a current position of a part to which a marking is performedby the marking unit 14, and the second current position indicates acurrent position of a part (e.g., a center part) of the nonrestrictivedrive-type marking device 10 which is not the marking unit 14. However,if there is no need to distinguish between the first current positionand the second current position, a current position of thenonrestrictive drive-type marking device 10 indicates a current positionof at least a part of the nonrestrictive drive-type marking device 10including the marking unit 14.

The sensing unit 121 senses a detector 123 positioned on a workingsurface and having various forms. For example, the sensing unit 121 mayinclude a distance measurement sensor that uses a light wave, a radiowave, a sound wave, or an image, or an image measurement sensor thatuses an image. As another example, the sensing unit 121 may include aglobal positioning system (GPS) receiving unit for receiving a GPSsignal.

The sensing unit 121 is electrically connected to the position signalgenerating unit 122, and the position signal generating unit 122generates a position signal based on information sensed by the sensingunit 121 and then transmits the position signal to the first controlunit 15. The position signal may be transmitted to the second controlunit 24 via the first control unit 15, and the first control unit 15and/or the second control unit 24 may calculate a current position inthe original data, based on the position signal.

For example, the position signal generating unit 122 may generate afirst position signal based on position information about at least thepart of the marking unit 14, and the first current position may becalculated based on the first position signal.

As another example, the position signal generating unit 122 may generatea second position signal based on position information about at leastthe part of the nonrestrictive drive-type marking device 10 which is notthe marking unit 14, and the second current position may be calculatedbased on the second position signal. The first current position may becalculated by adding a distance between the second current position andthe marking unit 14 to the second current position, but the presentdisclosure is not limited thereto.

Although not illustrated in drawings, the position detecting unit 12according to another embodiment of the present disclosure includes animage-capturing unit (not shown) and an image signal generating unit(not shown).

The image-capturing unit (not shown) may include a camera unit such as acharge-coupled device (CCD) camera, and captures an image of the workingsurface.

The image signal generating unit (not shown) is electrically connectedto the image-capturing unit (not shown), and generates an image signalbased on the image captured by the image-capturing unit (not shown). Theimage signal may be transmitted to the first control unit 15 and/or thesecond control unit 24, and the first control unit 15 and/or the secondcontrol unit 24 may calculate and/or check a current position in theoriginal data, based on the image signal.

The position detecting unit 12 may detect a position of thenonrestrictive drive-type marking device 10 in a marking start step, andmay also detect a current position of the nonrestrictive drive-typemarking device 10 while a marking is being performed. While the markingis being performed, the position detecting unit 12 periodically oraperiodically detects a current position of the nonrestrictivedrive-type marking device 10 so that the nonrestrictive drive-typemarking device 10 may check whether an error occurs on the marking. Themarking start step may include not only a case of initially starting themarking but may also include a case of restarting the marking after themarking is stopped, and the present disclosure is not limited thereto.

Referring back to FIG. 1, the driving unit 13 is arranged to allow atleast a part of the nonrestrictive drive-type marking device 10 tononrestrictively move on the working surface or along the workingsurface.

The driving unit 13 may include a first driving unit 131 and a seconddriving unit 132.

Any driving means can be applied as the first driving unit 131 to movethe nonrestrictive drive-type marking device 10. For example, the firstdriving unit 131 may include a motor and a wheel, and the motor and thewheel may be connected to a separate rotation axis to enable a change ina direction of the nonrestrictive drive-type marking device 10. Asanother example, a means such as a caterpillar which is capable ofmoving on an uneven land may be used as the first driving unit 131. Asanother example, the first driving unit 131 may include a plurality ofrobot arms to allow the nonrestrictive drive-type marking device 10 tomove due to the robot arms. As another example, the first driving unit131 may include a propeller to allow the nonrestrictive drive-typemarking device 10 to fly in a working space including the workingsurface.

The second driving unit 132 is configured to move the marking unit 14and is electrically connected to the first control unit 15. For example,the second driving unit 132 may include a cylinder, an actuator, and/ora motor. The second driving unit 132 may further include a device suchas an encoder capable of measuring a movement distance of the markingunit 14, and accordingly, as will be described below, the second drivingunit 132 may measure a distance in which the marking unit 14 is spacedapart from the part of the nonrestrictive drive-type marking device 10which is not the marking unit 14.

The marking unit 14 is configured to mark content corresponding to dataon the working surface, and is electrically connected to the firstcontrol unit 15. Any unit such as ink, a photosensitive agent, light, asound wave, or the like which can mark the content may be applied as themarking unit 14.

The marking unit 14 may mark at least one of one-dimensional data andtwo-dimensional data on the working surface, or may markthree-dimensional data in the working space including the workingsurface. For example, the marking unit 14 may mark the three-dimensionaldata in a stacked form by performing the marking one or more times onthe marked working surface, but the present disclosure is not limitedthereto. Hereinafter, an embodiment in which the two-dimensional data ismarked on the working surface will be mainly described.

FIGS. 3A and 3B are configuration diagrams of an example of the markingunit 14 of FIG. 1, in which the marking unit 14 may include a firstmarking unit 141 or 142.

Referring to FIG. 3A, the first marking unit 141 is configured to markcontent corresponding to data on a working surface. The first markingunit 141 according to the embodiment of the present disclosure includesa nozzle unit 151 for discharging ink, and an ink supplying unit 152 forstoring and supplying ink.

The nozzle unit 151 may include a nozzle head (not shown) for making theink discharged, and a head driving unit (not shown) for withdrawing,inserting, or changing a direction of the nozzle head (not shown). Acurrent position of the first marking unit 141 may indicate a currentposition of the nozzle unit 151.

The ink supplying unit 152 may include at least one ink storage tank,and may further include a pump unit and a valve unit which are connectedto the nozzle unit 151 so as to transport ink to the nozzle unit 151.

Referring to FIG. 3B, the first marking unit 142 according to anotherembodiment of the present disclosure may include a nozzle unit 153 andan ink supplying unit 156, and the nozzle unit 153 includes a firstnozzle unit 154 for performing a marking in an X-axis direction, and asecond nozzle unit 155 for performing a marking in an Y-axis direction.The first nozzle unit 154 and the second nozzle unit 155 are connectedto the ink supplying unit 156. Each of the first nozzle unit 154 and thesecond nozzle unit 155 may include one or more nozzles. In this regard,the X-axis direction may indicate a representative direction of a firstdirection, and the Y-axis direction may indicate a representativedirection of a second direction that is different from the firstdirection, but the present disclosure is not limited thereto. The sameis applied to an X-axis direction and a Y-axis direction which are to bedescribed below.

The first marking unit 141 or 142 is not limited to spraying aliquid-type pigment such as ink, and thus may spray a solid-type pigmentor a gel-type pigment, but the present disclosure is not limitedthereto.

The first marking unit 141 or 142 may directly apply the liquid-typepigment such as ink or the gel-type pigment such as a paste to theworking surface by using a pen-type unit or a brush-type unit, or maydirectly apply the solid-type pigment to the working surface, and thepresent disclosure is not limited thereto.

In addition, the first marking unit 141 or 142 may be configured to makethe marking performed on the working surface by applying a physicalchange to the working surface. For example, the first marking unit 141or 142 may be configured to make the marking performed by applying ascratch to a top of the working surface.

FIG. 4 is a configuration diagram of another example of the marking unit14 of FIG. 1 which may include a second marking unit 143.

Referring to FIG. 4, the second marking unit 143 is configured toproject content corresponding to data on a working surface. The secondmarking unit 143 according to the other embodiment of the presentdisclosure includes a light irradiating unit 161 for irradiating light,and an optical system 162 through which the irradiated light passes. Thelight may be, but is not limited to, highly straight light such as alaser, or a display image corresponding to data to be marked.

Although not illustrated in drawings, the optical system 162 of thesecond marking unit 143 according to the other embodiment of the presentdisclosure may include a first optical element (not shown) used for amarking in an X-axis direction, and a second optical element (not shown)used for a marking in a Y-axis direction. The first optical element (notshown) and the second optical element (not shown) may be connected tothe light irradiating unit 161. Each of the first optical element (notshown) and the second optical element (not shown) may include one ormore optical elements.

FIG. 5 is a diagram for describing an operation of a marking unit ofFIG. 4. Hereinafter, when the nonrestrictive drive-type marking device10 performs a marking while directly moving only on a first workingsurface, an operation of the second marking unit 143 will now berepresentatively described.

Referring to FIG. 5, when a working surface 30 is at least one of placesincluding the second working surface and the third working surface inwhich the nonrestrictive drive-type marking device 10 including only amotor and a wheel cannot directly move thereon, the second marking unit143 may perform a marking by irradiating highly straight light such as alaser to the working surface 30.

When a predetermined pigment 301 is previously applied onto the workingsurface 30, the predetermined pigment 301 may be discolored and/ordeformed in response to the light irradiated from the second markingunit 143 according to another embodiment of the present disclosure. Thepigment 301 may be colorless or colored. That is, even if thenonrestrictive drive-type marking device 10 cannot perform the markingwhile directly moving on the working surface 30, the nonrestrictivedrive-type marking device 10 may mark content corresponding to data byirradiating the light to the working surface 30 while the nonrestrictivedrive-type marking device 10 moves along the working surface 30 on whichthe predetermined pigment 301 is applied.

If the predetermined pigment 301 is not previously applied onto theworking surface 30, the second marking unit 143 according to the otherembodiment of the present disclosure may irradiate light to the workingsurface 30 so as to allow a worker to manually perform the marking.

If the predetermined pigment 301 is not previously applied onto theworking surface 30, the second marking unit 143 according to the otherembodiment of the present disclosure may irradiate, to the workingsurface 30, a display image corresponding to marking-target data such asa predetermined design drawing. In this regard, the nonrestrictivedrive-type marking device 10 may move to a preset location and mayproject a drawing image onto the working surface 30.

Based on the image projected onto the working surface 30 by the secondmarking unit 143, the worker may accurately check positions and forms ofvarious types of electric apparatuses, electronic apparatuses,construction equipment, and parts, e.g., windows and doors, signboards,tiles, or the like which would be arranged on the working surface 30, sothat accuracy of a work may be further increased.

When the position detecting unit 12 measures a distance of a workingsurface, the second marking unit 143 according to the other embodimentof the present disclosure may irradiate, to the working surface 30, animage to which a user-desired scale is applied based on a value of themeasured distance. In this regard, the second marking unit 143 mayirradiate an image, in consideration of a gradient of the workingsurface 30.

The second marking unit 143 according to the other embodiment of thepresent disclosure may split the original data so as to allow thenonrestrictive drive-type marking device 10 to sequentially project asplit image onto the second working surface or the third working surfacewhile the nonrestrictive drive-type marking device 10 moves on the firstworking surface, so that work efficiency may be improved.

In the embodiments of the present disclosure described with reference toFIGS. 4 and 5, the second driving unit 132 may adjust an angle of lightirradiation by the second marking unit 143, and may include the actuatorthat is connected to the optical system 162 and is capable of adjustinga focal length, but the present disclosure is not limited thereto.

FIG. 6 is a configuration diagram of another example of the marking unit14 of FIG. 1 which may include a third marking unit 144.

Referring to FIG. 6, the third marking unit 144 is configured to markcontent corresponding to data on a working surface. The third markingunit 144 according to the embodiment of the present disclosure includesa spraying unit 171 for discharging a photosensitive agent, aphotosensitive agent supplying unit 174, a light irradiating unit 178for irradiating light, and an optical system 175 through which theirradiated light passes.

The spraying unit 171 may include a spray head (not shown) for makingthe photosensitive agent discharged, and a spray driving unit (notshown) for withdrawing, inserting, or changing a direction of the sprayhead (not shown). A current position of the third marking unit 144 mayindicate a current position of the spraying unit 171.

The spraying unit 171 may include, but is not limited to, a plurality ofspraying units. For example, the spraying unit 171 according to theembodiment of the present disclosure may include a first spraying unit172 for performing a marking in an X-axis direction, and a secondspraying unit 173 for performing a marking in a Y-axis direction. Thefirst spraying unit 172 and the second spraying unit 173 may beconnected to the photosensitive agent supplying unit 174. Each of thefirst spraying unit 172 and the second spraying unit 173 may include oneor more spraying units.

The photosensitive agent supplying unit 174 may include at least onephotosensitive agent storage tank, and may further include a pump unitand a valve unit which are connected to the spraying unit 171 so as totransport a photosensitive agent to the spraying unit 171. Thephotosensitive agent may include a material that is discolored and/ordeformed in response to light. The photosensitive agent may include notonly a liquid-type photosensitive agent but may also include asolid-type photosensitive agent or a gel-type photosensitive agent, andthe present disclosure is not limited thereto.

The spraying unit 171 may directly apply the liquid-type photosensitiveagent or the gel-type photosensitive agent to the working surface byusing a pen-type unit or a brush-type unit, or may directly apply thesolid-type photosensitive agent to the working surface, and the presentdisclosure is not limited thereto.

The light irradiating unit 178 irradiates light to react with thephotosensitive agent.

The optical system 175 may include a first optical element 176 used fora marking in an X-axis direction, and a second optical element 177 usedfor a marking in a Y-axis direction. The first optical element 176 andthe second optical element 177 may be connected to the light irradiatingunit 178. Each of the first optical element 176 and the second opticalelement 177 may include one or more optical elements. The lightirradiating unit 178 may include a first light irradiating unit (notshown) connected to the first optical element 176, and a second lightirradiating unit (not shown) connected to the second optical element177.

The spraying unit 171 corresponds to the optical system 175. The firstspraying unit 172 may correspond to the first optical element 176, andthe second spraying unit 173 may correspond to the second opticalelement 177. For example, three spraying units included in the firstspraying unit 172 may respectively correspond to three optical elementsincluded in the first optical element 176. As another example, twospraying units included in the second spraying unit 173 may respectivelycorrespond to two optical elements included in the second opticalelement 177. A position to which light is irradiated through the opticalsystem 175 may be equal to a position to which the spraying unit 171corresponding to the optical system 175 sprays the photosensitive agent,but the present disclosure is not limited thereto.

The first control unit 15 may control an operation of the lightirradiating unit 178 so that light may be irradiated by the opticalsystem 175 after the spraying unit 171 sprays the photosensitive agent.The third marking unit 144 may spray the photosensitive agent by usingthe spraying unit 171 by the control of the first control unit 15, andmay irradiate, by using the optical system 175, light to a position towhich the photosensitive agent is sprayed, thereby performing a markingon the working surface. For example, after the third marking unit 144sprays the photosensitive agent by using the first spraying unit 172,the third marking unit 144 may irradiate the light by using the firstoptical element 176 corresponding to the first spraying unit 172,thereby performing the marking on the working surface.

The nonrestrictive drive-type marking device 10 according to theembodiment of the present disclosure includes the third marking unit144, so that the nonrestrictive drive-type marking device 10 mayaccurately perform the marking even if a distance between the workingsurface and the marking unit 14 is not constant.

FIG. 7 is a configuration diagram of a nonrestrictive drive-type markingsystem, according to another embodiment of the present disclosure.

Referring to FIG. 7, the nonrestrictive drive-type marking systemaccording to the embodiment of the present disclosure includes thenonrestrictive drive-type marking device 10.

The nonrestrictive drive-type marking device 10 illustrated in FIG. 7may include both the first marking unit 141 and the second marking unit143, and in this regard, a second-1 driving unit 133 is connected to thefirst marking unit 141 and thus drives the first marking unit 141, and asecond-2 driving unit 134 is connected to the second marking unit 143and thus drives the second marking unit 143. The first marking unit 141or 142 illustrated in FIG. 3A or 3B may be applied as the first markingunit 141 illustrated in FIG. 7. However, the present disclosure is notlimited thereto, and the third marking unit 144 illustrated in FIG. 6may be applied instead of the first marking unit 141. Other elements areequal to those illustrated in FIG. 1, thus, detailed descriptionsthereof are omitted here.

According to the embodiment of the present disclosure, thenonrestrictive drive-type marking device 10 may simultaneously perform amarking operation on a first working surface, a second working surface,and a third working surface, or may separately perform a markingoperation on one or more working surfaces of the first working surface,the second working surface, and the third working surface.

Although not illustrated in drawings, the nonrestrictive drive-typemarking device 10 may further include a power supply unit (not shown).The power supply unit (not shown) may include at least one of achargeable battery and a power supplier that is connected in a wirelessor wired manner. The power supply unit (not shown) may receive a powerfrom an electric generator but the present disclosure is not limitedthereto.

FIG. 8 is a configuration diagram of an example in which thenonrestrictive drive-type marking system of FIG. 1 is arranged.

Referring to FIG. 8, the nonrestrictive drive-type marking system isarranged in a working space including the working surface 30. Thedetector 123 may be placed in the working space. The nonrestrictivedrive-type marking device 10 may recognize the detector 123, therebydetecting a current position on the working surface 30. The remotecontrol device 20 may be positioned in the outside of the workingsurface 30. A fixed terminal such as a computer and/or a mobile terminalsuch as a smartphone, a smart pad, or the like may be used as the remotecontrol device 20, but the present disclosure is not limited thereto.

When the nonrestrictive drive-type marking system is arranged asdescribed above, marking may be performed.

Hereinafter, with reference to FIGS. 9 and 10, a marking method by thenonrestrictive drive-type marking system according to an embodiment ofthe present disclosure will now be described.

FIG. 9 is a block diagram illustrating an embodiment of a marking methodperformed by the nonrestrictive drive-type marking system of FIG. 1.FIG. 10 is a diagram for describing a current position of thenonrestrictive drive-type marking device 10.

Referring to FIGS. 1 and 9, the remote control device 20 stores, in thestorage 23, data of content to be marked which is input via the inputunit 21 (S1). The second control unit 24 generates a marking signalbased on the data received via the input unit 21. The marking signalincludes the data of content to be marked.

Next, when the position detecting unit 12 of the nonrestrictivedrive-type marking device 10 senses position information (S21), thefirst control unit 15 of the nonrestrictive drive-type marking device 10and/or the second control unit 24 of the remote control device 20recognizes a first current position from the position information (S31).Hereinafter, with reference to FIG. 11, the recognizing of a position inFIG. 9 will now be described in detail.

FIG. 11 is a block diagram illustrating a particular example of therecognizing of a position in FIG. 9.

According to an embodiment of the present disclosure, as illustrated inFIG. 11, after the sensing unit 121 senses a position of the detector123 (S211), the position signal generating unit 122 generates a firstposition signal based on the position (S212).

The first position signal is transmitted to the first control unit 15and is transmitted to the second control unit 24 via the firstcommunication unit 11 and the second communication unit 22 (S213). Thatis, the sensing unit 121 may exactly sense a position of a part of themarking unit 14 which performs a marking, and accordingly, the positionsignal generating unit 122 may generate the first position signal.

Referring back to FIG. 9, the first control unit 15 and/or the secondcontrol unit 24 may calculate a first current position P1 (refer to FIG.10) based on the first position signal and may recognize the firstcurrent position P1 (S31). The first current position P1 (refer to FIG.10) may be the position of the part of the marking unit 14 whichperforms a marking.

Although not illustrated in drawings, when the position detecting unit12 includes the image-capturing unit (not shown) and the image signalgenerating unit (not shown), an image of a work site is captured by theimage-capturing unit (not shown), and the image signal generating unit(not shown) generates an image signal based on the image. The imagesignal is transmitted to the first control unit 15 and is transmitted tothe second control unit 24 via the first communication unit 11 and thesecond communication unit 22. The second control unit 24 may recognizethe first current position P1 (refer to FIG. 10) of the nonrestrictivedrive-type marking device 10 by using a transmitted position signal orthe transmitted image signal, based on the input data.

The first control unit 15 and/or the second control unit 24 compares thefirst current position with original data (S411).

For example, the second control unit 24 may determine whether the firstcurrent position P1 (refer to FIG. 10) matches with a marking startpoint. The marking start point is a first reference point at which thenonrestrictive drive-type marking device 10 starts a marking. That is,the marking start point may be the first reference point indicating astart of a marking on a certain section from among a whole markingsection to be marked by the nonrestrictive drive-type marking system.Thus, a plurality of sequential first reference points may be providedto the whole marking section.

According to the embodiment of the present disclosure, the marking startpoint may be a marking target point. The marking target point mayindicate a point of a working surface on which a marking is performed bythe marking unit 14. For example, as illustrated in FIG. 3A, when themarking unit 14 corresponds to the first marking unit 141 including thenozzle unit 151 and the ink supplying unit 152, the marking target pointmay indicate the point of the working surface to which ink is sprayedfrom the nozzle unit 151.

According to another embodiment of the present disclosure, the markingstart point may be different from a marking target point. For example,the marking start point may be a point at which the part of thenonrestrictive drive-type marking device 10 which is not the markingunit 14 is positioned to start a marking. In this regard, the markingtarget point may indicate a point at which the nozzle unit 151 ispositioned, i.e., the point at which ink is to be sprayed.

Hereinafter, the marking start point that is the marking target point,and the marking start point that is not the marking target point aredistinguished therebetween by being referred to as a first marking startpoint and a second marking start point.

If the first current position P1 (refer to FIG. 10) matches with a firstmarking start point S1 (refer to FIG. 10), the first control unit 15and/or the second control unit 24 transmits a marking signal includingdata of content to be marked to the nonrestrictive drive-type markingdevice 10 (S5) so that the nonrestrictive drive-type marking device 10performs a marking while moving (S6).

For example, if the first current position P1 (refer to FIG. 10) matcheswith the first marking start point S1 (refer to FIG. 10), the firstcontrol unit 15 and/or the second control unit 24 may drive the drivingunit 13 and the marking unit 14, thereby allowing the nonrestrictivedrive-type marking device 10 to perform the marking while moving.

If the first current position P1 (refer to FIG. 10) does not match withthe first marking start point S1 (refer to FIG. 10), the first controlunit 15 and/or the second control unit 24 calculates a degree ofmismatch (S421), and determines whether the calculated degree ofmismatch is within a preset range A (refer to FIG. 10) (S431).

The preset range A (refer to FIG. 10) indicates a range in which themarking unit 14 and/or the nonrestrictive drive-type marking device 10can be moved by the driving unit 13 so as to match the first currentposition P1 (refer to FIG. 10) of the marking unit 14 with the firstmarking start point S1 (refer to FIG. 10). For example, the preset rangeA (refer to FIG. 10) may be a circle of which radius is r.

If the degree of mismatch is within the preset range A (refer to FIG.10), the first control unit 15 and/or the second control unit 24 movesat least a part of the marking unit 14 to the first marking start pointS1 (refer to FIG. 10) (S441).

Afterward, when the aforementioned position recognition processes S21,S31, and S411 are performed and thus the first current position P1(refer to FIG. 10) matches with the first marking start point S1 (referto FIG. 10), the second control unit 24 transmits a marking signalincluding the data of content to be marked to the nonrestrictivedrive-type marking device 10 (S5) so as to allow the nonrestrictivedrive-type marking device 10 to perform the marking while moving (S6).

According to the other embodiment of the present disclosure, if thedegree of mismatch is within the preset range A (refer to FIG. 10), thefirst control unit 15 and/or the second control unit 24 may move atleast a part of the marking unit 14 to the first marking start point S1(refer to FIG. 10) by the degree of mismatch, and then may perform themarking through S5 and S6, but the present disclosure is not limitedthereto.

If the degree of mismatch exceeds the preset range A (refer to FIG. 10),the first control unit 15 and/or the second control unit 24 moves thenonrestrictive drive-type marking device 10 (S7).

The first control unit 15 and/or the second control unit 24 moves thenonrestrictive drive-type marking device 10 until the degree of mismatchbecomes within the preset range A (refer to FIG. 10), and then repeatsthe aforementioned processes S21, S31, S411, S421, and S431. Afterward,if it is confirmed that the first current position P1 (refer to FIG. 10)matches with the first marking start point S1 (refer to FIG. 10), thesecond control unit 24 may perform the marking according to theprocesses S5 and S6.

For example, as in FIG. 10, in the case where a distance 11 between thefirst current position P1 and the first marking start point S1 is lessthan r, and thus it is determined that the degree of mismatch is withinthe preset range A, the first control unit 15 and/or the second controlunit 24 may control an operation of the second driving unit 132 to movethe marking unit 14 so as to allow the first current position P1 tomatch with the first marking start point S1, and then may perform amarking operation.

As another example, as in FIG. 10, in the case where a distance 11′between a first marking start point S1′ and the first current positionP1 is greater than r, and thus the degree of mismatch exceeds the presetrange A, the first control unit 15 and/or the second control unit 24 maycontrol an operation of the first driving unit 131 and/or the seconddriving unit 132 to move the nonrestrictive drive-type marking device 10so as to allow the distance between the first marking start point S1′and the first current position P1 to be within the preset range A, andthen to move the marking unit 14 so as to allow the first currentposition P1 to match with the first marking start point S1′, and thenmay perform the marking.

FIG. 12 is a block diagram illustrating another embodiment of themarking method performed by the nonrestrictive drive-type marking deviceof FIG. 1. Hereinafter, descriptions that are equal to those describedwith reference to FIG. 9 are briefly provided or are omitted.

Referring to FIGS. 1 and 12, the remote control device 20 stores, in thestorage 23, data of content to be marked which is input via the inputunit 21 (S1).

The second control unit 24 generates a marking signal based on the datareceived via the input unit 21. Next, when the position detecting unit12 of the nonrestrictive drive-type marking device 10 senses positioninformation (S21), the first control unit 15 of the nonrestrictivedrive-type marking device 10 and/or the second control unit 24 of theremote control device 20 recognizes a second current position from theposition information (S32). Hereinafter, with reference to FIG. 13, therecognizing of a position in FIG. 12 will now be described in detail.

FIG. 13 is a block diagram illustrating another particular example ofthe recognizing of a position in FIG. 9.

According to an embodiment of the present disclosure, as illustrated inFIG. 13, the sensing unit 121 senses a position of the detector 123(S214), and the position signal generating unit 122 generates a secondposition signal based on the position (S215).

The second position signal is transmitted to the first control unit 15and is transmitted to the second control unit 24 via the firstcommunication unit 11 and the second communication unit 22 (S216). Thatis, the sensing unit 121 may sense a position of the part of thenonrestrictive drive-type marking device 10 which is not the markingunit 14, and accordingly, the position signal generating unit 122 maygenerate the second position signal.

The first control unit 15 and/or the second control unit 24 maycalculate a second current position P2 (refer to FIG. 10) based on thesecond position signal. Since the first control unit 15 and/or thesecond control unit 24 previously recognizes information about a firstdistance d1 (refer to FIG. 10) between the first current position P1(refer to FIG. 10) and the second current position P2 (refer to FIG.10), the first control unit 15 and/or the second control unit 24 maycalculate and recognize the first current position P1 (refer to FIG. 10)by adding the information about the first distance d1 (refer to FIG. 10)to the second current position P2 (refer to FIG. 10) (S31). Referring toFIG. 10, the second current position P2 may be a position of the part(e.g., a center part) of the nonrestrictive drive-type marking device 10which is not the marking unit 14.

Although not illustrated in drawings, when the position detecting unit12 includes the image-capturing unit (not shown) and the image signalgenerating unit (not shown), an image of a work site is captured by theimage-capturing unit (not shown), and the image signal generating unit(not shown) generates an image signal based on the image. The imagesignal is transmitted to the first control unit 15 and is transmitted tothe second control unit 24 via the first communication unit 11 and thesecond communication unit 22. The second control unit 24 may recognizethe second current position P2 (refer to FIG. 10) of the nonrestrictivedrive-type marking device 10 by using a transmitted position signal orthe transmitted image signal, based on the input data. Then, the firstcontrol unit 15 and/or the second control unit 24 previously recognizesthe information about the first distance d1 (refer to FIG. 10) betweenthe first current position P1 (refer to FIG. 10) and the second currentposition P2 (refer to FIG. 10), so that the first control unit 15 and/orthe second control unit 24 may calculate and recognize the first currentposition P1 (refer to FIG. 10) by adding the information about the firstdistance d1 (refer to FIG. 10) to the second current position P2 (referto FIG. 10).

Referring back to FIG. 12, the first control unit 15 and/or the secondcontrol unit 24 compares the second current position with original data(S412).

For example, the second control unit 24 may determine whether the secondcurrent position P2 (refer to FIG. 10) matches with a second markingstart point S2 (refer to FIG. 10).

If the second current position P2 (refer to FIG. 10) matches with thesecond marking start point S2 (refer to FIG. 10), the second controlunit 24 transmits a marking signal including data of content to bemarked to the nonrestrictive drive-type marking device 10 (S5) so thatthe nonrestrictive drive-type marking device 10 performs a marking whilemoving (S6).

In this regard, the first control unit 15 and/or the second control unit24 already has information about a second distance d2 (refer to FIG. 10)between the first marking start point Si (refer to FIG. 10) and thesecond marking start point S2 (refer to FIG. 10), and the seconddistance d2 (refer to FIG. 10) may be changed.

Whenever the second distance d2 is changed, the first control unit 15and/or the second control unit 24 may control the second driving unit132 to move the marking unit 14 so as to allow the first currentposition P1 (refer to FIG. 10) of the marking unit 14 to match with thefirst marking start point S1 (refer to FIG. 10), thereby making themarking unit 14 perform a marking. That is, the first control unit 15and/or the second control unit 24 may adjust the first distance d1(refer to FIG. 10) between the first current position P1 (refer to FIG.10) and the second current position P2 (refer to FIG. 10) so as to makethe first distance d1 match with the second distance d2 (refer to FIG.10) that is a variable distance, and may control the second driving unit132 to move the marking unit 14 so as to adjust the first distance d1(refer to FIG. 10) between the first current position P1 (refer to FIG.10) and the second current position P2 (refer to FIG. 10).

The second marking start point S2 (refer to FIG. 10) may be set to be arandom position spaced apart from the first marking start point S1(refer to FIG. 10) by the second distance d2 (refer to FIG. 10).

If the second current position P2 (refer to FIG. 10) does not match withthe second marking start point S2 (refer to FIG. 10), the first controlunit 15 and/or the second control unit 24 calculates a degree ofmismatch (S422), and determines whether the calculated degree ofmismatch is within the preset range A (refer to FIG. 10) (S431).

If the degree of mismatch is within the preset range A (refer to FIG.10), the first control unit 15 and/or the second control unit 24 movesat least a part of the marking unit 14 to the first marking start pointS1 (refer to FIG. 10) (S441).

Afterward, when the aforementioned position recognition processes S21,S32, S31, and S412 are performed and thus the second current position P2(refer to FIG. 10) matches with the second marking start point S2 (referto FIG. 10), the second control unit 24 transmits a marking signalincluding the data of content to be marked to the nonrestrictivedrive-type marking device 10 (S5) so as to allow the nonrestrictivedrive-type marking device 10 to perform the marking while moving (S6).

If the degree of mismatch exceeds the preset range A (refer to FIG. 10),the first control unit 15 and/or the second control unit 24 moves thenonrestrictive drive-type marking device 10 (S7).

The first control unit 15 and/or the second control unit 24 moves thenonrestrictive drive-type marking device 10 until the degree of mismatchbecomes within the preset range A (refer to FIG. 10), and then repeatsthe aforementioned processes S21, S32, S31, S412, S422, and S432.Afterward, if it is confirmed that the second current position P2 (referto FIG. 10) matches with the second marking start point S2 (refer toFIG. 10), the first control unit 15 and/or the second control unit 24may perform the marking according to the processes S5 and S6.

For example, as in FIG. 10, if a distance 12 between the second currentposition P2 and the second marking start point S2 is less than r, thefirst control unit 15 and/or the second control unit 24 may control anoperation of the second driving unit 132 to move the marking unit 14 soas to allow the first current position P1 to match with the firstmarking start point S1, and then may perform a marking operation.

As another example, as in FIG. 10, if a distance 12′ between a secondmarking start point S2′ and the second current position P2 is greaterthan r, the first control unit 15 and/or the second control unit 24 maycontrol an operation of the first driving unit 131 and/or the seconddriving unit 132 to move the nonrestrictive drive-type marking device 10so as to allow the distance between the second marking start point S2′and the second current position P2 to be within the preset range A, andthen to move the marking unit 14 so as to allow the first currentposition P1 to match with the first marking start point S1′, and thenmay perform the marking.

By repeating the aforementioned processes, the nonrestrictive drive-typemarking system according to the embodiments of the present disclosuremay detect a marking start point and may mark content corresponding toinput data on a working surface.

Although not illustrated in drawings, even if a current position doesnot match with the marking start point, when a degree of mismatch iswithin a preset error range, the second control unit 24 may transmit amarking signal including data of content to be marked to thenonrestrictive drive-type marking device 10, thereby allowing thenonrestrictive drive-type marking device 10 to perform a marking whilemoving.

FIG. 14 is a block diagram illustrating another embodiment of themarking method performed by the nonrestrictive drive-type marking deviceof FIG. 1. Hereinafter, descriptions that are equal to those describedwith reference to FIGS. 9 and 12 are omitted or briefly provided.

Referring to FIGS. 1 and 14, the nonrestrictive drive-type markingdevice 10 detects a marking start point and then performs a markingwhile moving (S6).

The nonrestrictive drive-type marking device 10 recognizes a currentposition via the position detecting unit 12 (S32). The current positionmay be at least one of a first current position and a second currentposition.

The first control unit 15 and/or the second control unit 24 compares therecognized current position with original data (S413).

For example, the second control unit 24 may determine whether thecurrent position matches with a marking end point. The marking end pointrefers to a second reference point at which the nonrestrictivedrive-type marking device 10 stops the marking. That is, the marking endpoint may correspond to the second reference point indicating an end ofthe marking on a certain section from among a whole marking section tobe marked by the nonrestrictive drive-type marking system. Thus, aplurality of a pair of a first reference point and the second referencepoint may be sequentially provided for the whole marking section. Themarking end point may be a marking target point but the presentdisclosure is not limited thereto. The marking end point that is themarking target point, and the marking end point that is not the markingtarget point are distinguished therebetween by being referred to as afirst marking end point and a second marking end point.

If the recognized current position matches with an end point on data,the first control unit 15 and/or the second control unit 24 ends themarking.

If the recognized current position does not match with the end point onthe data, the first control unit 15 and/or the second control unit 24calculates a degree of mismatch (S423), and determines whether thecalculated degree of mismatch is within a preset error range (S433).

If the calculated degree of mismatch is within the preset error range,the second control unit 24 transmits a marking unit driving signalincluding data of the degree of mismatch to the first control unit 15via the second communication unit 22 and the first communication unit11, and the first control unit 15 moves at least a part of the markingunit 14 by the degree of mismatch (S443).

If the calculated degree of mismatch exceeds the preset error range, thefirst control unit 15 and/or the second control unit 24 may make a userdetermine whether to accept the degree of mismatch (S8).

If the user accepts the degree of mismatch, for example, if a useracceptance input with respect to a mismatch is received via the inputunit 21, the first control unit 15 and/or the second control unit 24ends the marking accordingly. However, if the user does not accept thedegree of mismatch, for example, if a user disapproval input withrespect to the mismatch is received via the input unit 21, the firstcontrol unit 15 and/or the second control unit 24 ends the marking in anerror state (S9).

Although not illustrated in drawings, even if the current position doesnot match with the marking end point, when the degree of mismatch iswithin the preset error range, the first control unit 15 and/or thesecond control unit 24 may transmit a marking signal including a markingend command to the nonrestrictive drive-type marking device 10, therebyallowing the nonrestrictive drive-type marking device 10 to end themarking.

Although not illustrated in drawings, in the case where the marking isended in an error state regardless of whether a worker can accept thedegree of mismatch, the nonrestrictive drive-type marking system mayprovide information by which the worker may correct an error in a site.For example, the nonrestrictive drive-type marking system may perform asimulation by actually measuring a working space by driving thenonrestrictive drive-type marking device 10, may generate errorinformation by comparing measurement data obtained therefrom withoriginal data, and may display the generated error information on theoriginal data.

In this regard, the nonrestrictive drive-type marking system determinesfirst whether to perform the simulation, and if the simulation is notperformed, the nonrestrictive drive-type marking system performs amarking as in the embodiments of FIGS. 10, 12, and/or 14.

On the other hand, if the simulation is performed, the marking is notperformed and the projecting operation provided in the embodiments ofFIGS. 10, 12, and/or 14 is performed.

While the nonrestrictive drive-type marking system performs thesimulation, the nonrestrictive drive-type marking system compares themeasurement data with the original data and may report the comparison tothe worker, or may display the error information by displaying themeasurement data on the original data.

According to another embodiment of the present disclosure, during themarking, the nonrestrictive drive-type marking system may compare themeasurement data with the original data and may additionally mark theerror information on a working surface.

When the sensing unit 121 of the position detecting unit 12 measures adistance of the working surface, the first control unit 15 and/or thesecond control unit 24 may control the marking to be performed byapplying a user-desired scale based on a value of the measured distance.In this regard, if the working surface is slopped, a value of anactually-measured distance may be greater than a value of a distance ona drawing, and in this regard, the first control unit 15 and/or thesecond control unit 24 may correct a scale of the original data and maymark it on the working surface.

In the aforementioned embodiments of the present disclosure, as in FIG.1, the remote control device 20 is separate from the nonrestrictivedrive-type marking device 10 and controls driving of the nonrestrictivedrive-type marking device 10, but the present disclosure is not limitedthereto.

FIG. 15 is a configuration diagram of a nonrestrictive drive-typemarking system, according to another embodiment of the presentdisclosure.

Referring to FIG. 15, the nonrestrictive drive-type marking device 10may further include an input unit 16 and a storage 17 in addition to theposition detecting unit 12, the driving unit 13, the marking unit 14,and the first control unit 15, and may directly receive an input of dataand store the data.

According to an embodiment of the present disclosure, a plurality of theaforementioned nonrestrictive drive-type marking devices 10 may beconnected in parallel so that multiple operations may be simultaneouslyperformed.

The aforementioned embodiments of the present disclosure may be embodiedas a computer program to be executed by using various components incomputers, and the computer program may be recorded in acomputer-readable medium. Examples of the medium include magnetic mediaincluding hard disks, floppy disks, and magnetic tapes, optical mediaincluding CD-ROMs and DVDs, magneto-optical media including flopticaldisks, and hardware device particularly designed to store and executeprogrammed commands in ROM, RAM, a flash memory, and the like. Inaddition, the medium may include an intangible medium implemented to betransmitted over network, and for example, the intangible medium may besoftware or an application implemented to be transmitted and distributedover network.

The computer program may be particularly designed and configured for thepresent disclosure or may be well known to one of ordinary skill in theart of computer software. Examples of the computer program include notonly machine code generated by a compiler but also include a high-levelprogramming language to be executed in a computer by using aninterpreter.

The particular implementations shown and described herein areillustrative examples of the disclosure and are not intended tootherwise limit the scope of the disclosure in any way. For the sake ofbrevity, conventional electronics, control systems, software developmentand other functional aspects of the systems may not be described indetail. Furthermore, the connecting lines, or connectors shown in thevarious figures presented are intended to represent exemplary functionalrelationships and/or physical or logical couplings between the variouselements. It should be noted that many alternative or additionalfunctional relationships, physical connections or logical connectionsmay be present in a practical device. Moreover, no item or component isessential to the practice of the disclosure unless the element isspecifically described as “essential” or “critical”.

In the detailed description (in particular, in claims), the use of theterm “the” and similar indicating terms may correspond to singular andplural forms. Also, when a range is described, the disclosure includesembodiments to which respective values in the range are applied (unlessthere is a particular description contrary thereto), and the detaileddescription of the disclosure may include the respective values in therange.

An order of operations performed by the methods according to the one ormore embodiments of the present disclosure may be changed unless thereis a particular description about the order of operations. Thus, the oneor more embodiments are not limited to the order of operations. The useof any and all examples, or exemplary language (e.g., “such as”)provided herein, is intended merely to better illuminate the disclosureand does not pose a limitation on the scope of the disclosure unlessotherwise claimed. Numerous modifications and adaptations will bereadily apparent to one of ordinary skill in the art without departingfrom the spirit and scope of the present disclosure.

While the present disclosure has been particularly shown and describedwith reference to embodiments thereof, it will be understood by one ofordinary skill in the art that various changes and equivalent otherembodiments may be made.

1. A nonrestrictive drive-type working system comprising a movablenonrestrictive drive-type working device, the nonrestrictive drive-typeworking system comprising: a working unit configured to work on aworking surface; a driving unit configured to allow at least a part ofthe nonrestrictive drive-type working device comprising the working unitto nonrestrictively move on the working surface; a position detectingunit configured to generate position information of at least a part ofthe nonrestrictive drive-type working device; and a control unitelectrically connected to the working unit, the driving unit, and theposition detecting unit, and configured to: calculate a current positionof at least a part of the nonrestrictive drive-type working deviceincluding the working unit by comparing the position information with amap data corresponding to the working surface; compare the currentposition with a map data; move at least a part of the working unit whenthe current position does not match with the map data and a degree ofmismatch thereof is within a preset range; move at least a part of thenonrestrictive drive-type working device when the current position doesnot match with the map data and the degree of mismatch thereof exceedsthe preset range; and control the nonrestrictive drive-type workingdevice when the current position matches with the map data to work onthe working surface.
 2. The nonrestrictive drive-type working system ofclaim 1, wherein the driving unit comprises: a first driving unitconfigured to move at least a part of the nonrestrictive drive-typeworking device; and a second driving unit configured to move at least apart of the working unit.
 3. The nonrestrictive drive-type markingsystem of claim 2, wherein the control unit is further configured tomove at least a part of the nonrestrictive drive-type working device bydriving the first driving unit, and when the current position does notmatch with the map data and the degree of mismatch thereof is within thepreset range, to move at least a part of the working unit by driving thesecond driving unit.
 4. The nonrestrictive drive-type working system ofclaim 1, wherein the working unit comprises: an ink supplying unitconfigured to supply ink; and a nozzle unit connected to the inksupplying unit and configured to spray the ink onto a working targetpoint.
 5. The nonrestrictive drive-type working system of claim 4,wherein the nozzle unit comprises: a first nozzle unit configured toperform marking in a first direction; and a second nozzle unitconfigured to perform marking in a second direction different from thefirst direction, wherein each of the first nozzle unit and the secondnozzle unit comprises one or more nozzles.
 6. The nonrestrictivedrive-type working system of claim 1, wherein the working unit comprisesa second working unit configured to project data beam onto a portion ofthe working surface.
 7. The nonrestrictive drive-type working system ofclaim 1, wherein the working unit comprises: a light irradiating unitconfigured to generate light; and an optical system connected to thelight irradiating unit and configured to transmit the light to beirradiated to a working target point.
 8. The nonrestrictive drive-typeworking system of claim 7, wherein the optical system comprises: a firstoptical element used for marking in a first direction; and a secondoptical element used for marking in a second direction different fromthe first direction, wherein each of the first optical element and thesecond optical element comprises one or more optical elements.
 9. Thenonrestrictive drive-type working system of claim 1, wherein the workingunit comprises: a photosensitive agent supplying unit configured tosupply a photosensitive agent; a spraying unit connected to thephotosensitive agent supplying unit and configured to discharge thephotosensitive agent to a working target point; a light irradiating unitconfigured to generate light; and an optical system connected to thelight irradiating unit and corresponding to the spraying unit, andconfigured to transmit the light to be irradiated to the working targetpoint.
 10. The nonrestrictive drive-type working system of claim 9,wherein the spraying unit comprises: a first spraying unit configured toperform marking in a first direction; and a second spraying unitconfigured to perform marking in a second direction different from thefirst direction, wherein the optical system comprises: a first opticalelement used for marking in the first direction; and a second opticalelement used for marking in the second direction, and wherein each ofthe first spraying unit and the second spraying unit comprises one ormore spraying units, and each of the first optical element and thesecond optical element comprises one or more optical elements.
 11. Thenonrestrictive drive-type working system of claim 1, further comprisinga remote control device comprising an input unit, wherein thenonrestrictive drive-type working device comprises the working unit, thedriving unit, and the position detecting unit, wherein the control unitcomprises a first control unit electrically connected to the workingunit, the driving unit, and the position detecting unit and positionedin the nonrestrictive drive-type working device, and a second controlunit electrically connected to the input unit and positioned in theremote control device, and wherein the nonrestrictive drive-type workingdevice and the remote control device are configured to communicate witheach other.
 12. A nonrestrictive drive-type working method comprising:generating position information of at least a part of a nonrestrictivedrive-type working device comprising a position detecting unit, acontrol unit, a driving unit, and a working unit, the generating of theposition information is processed by the position detecting unit;recognizing, by the control unit, a current position of at least a partof the nonrestrictive drive-type working device by comparing theposition information with a map data, wherein the control unit iselectrically connected to the position detecting unit; comparing, by thecontrol unit, the current position with the map data; when the currentposition matches with the map data, controlling, by the control unit,operations of the driving unit and the working unit to move thenonrestrictive drive-type working device and to work on the workingsurface; when the current position does not match with the map data anda degree of mismatch thereof is within a preset range, moving, by thecontrol unit, at least a part of the working unit; and when the currentposition does not match with the map data and the degree of mismatchthereof exceeds the preset range, moving, by the control unit, at leasta part of the nonrestrictive drive-type working device.
 13. Thenonrestrictive drive-type working method of claim 12, wherein: thegenerating, by the position detecting unit, of the position informationcomprises generating, by the position detecting unit, a first positionsignal with respect to at least a part of the working unit; therecognizing, by the control unit, of the current position of at least apart of the nonrestrictive drive-type working device comprisesrecognizing, by the control unit, a first current position based on thefirst position signal; the comparing, by the control unit, of thecurrent position with the map data comprises comparing, by the controlunit, the first current position with a first working start point; whenthe first current position matches with the first working start point,the controlling, by the control unit, of the operations comprisescontrolling the working to be performed; when the first current positiondoes not match with the first working start point, the controlling, bythe control unit, of the operations comprises moving, by the controlunit, at least a part of the working unit to the first working startpoint; and the first working start point is a working target point to beworked by the working unit.
 14. The nonrestrictive drive-type workingmethod of claim 13, wherein when the first current position does notmatch with the first working start point, the controlling of theoperations further comprises: calculating, by the control unit, a degreeof mismatch between the first current position and the first workingstart point; comparing, by the control unit, the calculated degree ofmismatch with the preset range; when the calculated degree of mismatchis within the preset range, moving, by the control unit, at least a partof the working unit to the first working start point; and when thecalculated degree of mismatch exceeds the preset range, moving, by thecontrol unit, the nonrestrictive drive-type working device to the firstworking start point.
 15. The nonrestrictive drive-type marking method ofclaim 12, wherein: the generating, by the position detecting unit, ofthe position information comprises generating a second position signalwith respect to at least a part of the nonrestrictive drive-type workingdevice which is not the working unit; the recognizing, by the controlunit, of the current position of at least a part of the nonrestrictivedrive-type marking device comprises, by the control unit, calculating asecond current position based on the second position signal andcalculating a first current position based on the second currentposition, wherein the first current position is the current position ofat least a part of the working unit; the comparing, by the control unit,of the current position with the map data comprises comparing, by thecontrol unit, the second current position with a second working startpoint; the controlling of the operations comprises controlling, by thecontrol unit, operations of the driving unit and the working unit towork on the working surface when the second current position matcheswith the second working start point, and moving, by the control unit, atleast a part the working unit to a first working start point when thesecond current position does not match with the second working startpoint; and the first working start point is a working target point to beworked by the working unit, and the second working start point is aworking start point that is not the working target point.
 16. Thenonrestrictive drive-type working method of claim 15, when the secondcurrent position does not match with the second working start point, thecontrolling of the operations further comprises: calculating, by thecontrol unit, a degree of mismatch between the second current positionand the second working start point; and comparing, by the control unit,the calculated degree of mismatch with the preset range, wherein whenthe calculated degree of mismatch is within the preset range, thecontrol unit moves at least a part of the working unit to the firstworking start point, and wherein when the calculated degree of mismatchexceeds the preset range, the control unit moves the nonrestrictivedrive-type working device to the second working start point.
 17. Thenonrestrictive drive-type working method of claim 12, further comprisingending, by the control unit, the working at a working end point.
 18. Thenonrestrictive drive-type working method of claim 17, wherein the endingof the working comprises ending, by the control unit, the working whenthe current position matches with the working end point, and wherein thenonrestrictive drive-type working method further comprises: when thecurrent position does not match with the working end point, determining,by the control unit, whether a degree of mismatch between the currentposition and the working end point is within a preset range; when thedegree of mismatch between the current position and the working endpoint is within the preset range, moving, by the control unit, theworking unit to the working end point; and when the degree of mismatchbetween the current position and the working end point exceeds thepreset range, not moving, by the control unit, the working unit to theworking end point.
 19. The nonrestrictive drive-type working method ofclaim 18, wherein the not moving, by the control unit, of the workingunit to the working end point comprises: ending, by the control unit,the working when the degree of mismatch between the current position andthe working end point is acceptable; and ending, by the control unit,the working in an error state when the degree of mismatch between thecurrent position and the working end point is unacceptable.
 20. Thenonrestrictive drive-type working method of claim 12, further comprisingperforming, by the control unit, a simulation on the content to beworked by the nonrestrictive drive-type working device while moving onthe working surface.